This　paper　describes　a　computer-simulated　virtual　reality　environment　for　planetary　rover　operation　and　testing.　The　proposed　3D　Virtual　Rover　Operation　Simulator　(VROS)　consists　of　rover　model,　perception　of　tire　planetary　surface,　and　rover-terrain　contact　model,　which　provides　a　simulation　platform　to　test　and　validate　different　rover　chassis　design,　navigation　and　locomotion　algorithms,　and　to　support　rover　operation.　Lab-based　experiments　have　been　carried　out　and　results　can　demonstrate　various　functions　of　VROS　and　its　performance.